Add shooter superstructure code
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: I559d79e1308c8ec6d434235e16f0273b4ce09f0d
diff --git a/frc971/control_loops/subsystem_simulator.h b/frc971/control_loops/subsystem_simulator.h
index 0a23a38..3dc44f7 100644
--- a/frc971/control_loops/subsystem_simulator.h
+++ b/frc971/control_loops/subsystem_simulator.h
@@ -79,6 +79,9 @@
PositionSensorSimulator *encoder() { return &encoder_; }
+ double position() const { return plant_->X(0, 0); }
+ double velocity() const { return plant_->X(1, 0); }
+
private:
std::unique_ptr<CappedTestPlant> plant_;
PositionSensorSimulator encoder_;